Program Listing for File source_driver.hpp

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#pragma once

#include "source/source.hpp"

#include <rs_driver/api/lidar_driver.hpp>
#include <rs_driver/utility/sync_queue.hpp>

namespace robosense
{
namespace lidar
{

class SourceDriver : public Source
{
public:

  virtual void init(const YAML::Node& config);
  virtual void start();
  virtual void stop();
  virtual void regPacketCallback(DestinationPacket::Ptr dst);
  virtual ~SourceDriver();

  SourceDriver(SourceType src_type);

protected:

  std::shared_ptr<LidarPointCloudMsg> getPointCloud(void);
  void putPointCloud(std::shared_ptr<LidarPointCloudMsg> msg);
  void putPacket(const Packet& msg);
  void putException(const lidar::Error& msg);
  void processPointCloud();

  std::shared_ptr<lidar::LidarDriver<LidarPointCloudMsg>> driver_ptr_;
  SyncQueue<std::shared_ptr<LidarPointCloudMsg>> free_point_cloud_queue_;
  SyncQueue<std::shared_ptr<LidarPointCloudMsg>> point_cloud_queue_;
#ifdef ENABLE_IMU_DATA_PARSE
  std::shared_ptr<ImuData> getImuData(void);
  void putImuData(const std::shared_ptr<ImuData>& msg);
  void processImuData();
  SyncQueue<std::shared_ptr<ImuData>> free_imu_data_queue_;
  SyncQueue<std::shared_ptr<ImuData>> imu_data_queue_;
  std::thread imu_data_process_thread_;
#endif
  std::thread point_cloud_process_thread_;
  bool to_exit_process_;
};

SourceDriver::SourceDriver(SourceType src_type)
  : Source(src_type), to_exit_process_(false)
{
}

inline void SourceDriver::init(const YAML::Node& config)
{
  YAML::Node driver_config = yamlSubNodeAbort(config, "driver");
  lidar::RSDriverParam driver_param;

  // input related
  yamlRead<uint16_t>(driver_config, "msop_port", driver_param.input_param.msop_port, 6699);
  yamlRead<uint16_t>(driver_config, "difop_port", driver_param.input_param.difop_port, 7788);
#ifdef ENABLE_IMU_DATA_PARSE
  yamlRead<uint16_t>(driver_config, "imu_port", driver_param.input_param.imu_port, 6688);
#endif
  yamlRead<std::string>(driver_config, "host_address", driver_param.input_param.host_address, "0.0.0.0");
  yamlRead<std::string>(driver_config, "group_address", driver_param.input_param.group_address, "0.0.0.0");
  yamlRead<bool>(driver_config, "use_vlan", driver_param.input_param.use_vlan, false);
  yamlRead<std::string>(driver_config, "pcap_path", driver_param.input_param.pcap_path, "");
  yamlRead<float>(driver_config, "pcap_rate", driver_param.input_param.pcap_rate, 1);
  yamlRead<bool>(driver_config, "pcap_repeat", driver_param.input_param.pcap_repeat, true);
  yamlRead<uint16_t>(driver_config, "user_layer_bytes", driver_param.input_param.user_layer_bytes, 0);
  yamlRead<uint16_t>(driver_config, "tail_layer_bytes", driver_param.input_param.tail_layer_bytes, 0);
  yamlRead<uint32_t>(driver_config, "socket_recv_buf", driver_param.input_param.socket_recv_buf, 106496);
  // decoder related
  std::string lidar_type;
  yamlReadAbort<std::string>(driver_config, "lidar_type", lidar_type);
  driver_param.lidar_type = strToLidarType(lidar_type);

  // decoder
  yamlRead<bool>(driver_config, "wait_for_difop", driver_param.decoder_param.wait_for_difop, true);
  yamlRead<bool>(driver_config, "use_lidar_clock", driver_param.decoder_param.use_lidar_clock, false);
  yamlRead<float>(driver_config, "min_distance", driver_param.decoder_param.min_distance, 0.2);
  yamlRead<float>(driver_config, "max_distance", driver_param.decoder_param.max_distance, 200);
  yamlRead<float>(driver_config, "start_angle", driver_param.decoder_param.start_angle, 0);
  yamlRead<float>(driver_config, "end_angle", driver_param.decoder_param.end_angle, 360);
  yamlRead<bool>(driver_config, "dense_points", driver_param.decoder_param.dense_points, false);
  yamlRead<bool>(driver_config, "ts_first_point", driver_param.decoder_param.ts_first_point, false);

  // mechanical decoder
  yamlRead<bool>(driver_config, "config_from_file", driver_param.decoder_param.config_from_file, false);
  yamlRead<std::string>(driver_config, "angle_path", driver_param.decoder_param.angle_path, "");

  uint16_t split_frame_mode;
  yamlRead<uint16_t>(driver_config, "split_frame_mode", split_frame_mode, 1);
  driver_param.decoder_param.split_frame_mode = SplitFrameMode(split_frame_mode);

  yamlRead<float>(driver_config, "split_angle", driver_param.decoder_param.split_angle, 0);
  yamlRead<uint16_t>(driver_config, "num_blks_split", driver_param.decoder_param.num_blks_split, 0);

  // transform
  yamlRead<float>(driver_config, "x", driver_param.decoder_param.transform_param.x, 0);
  yamlRead<float>(driver_config, "y", driver_param.decoder_param.transform_param.y, 0);
  yamlRead<float>(driver_config, "z", driver_param.decoder_param.transform_param.z, 0);
  yamlRead<float>(driver_config, "roll", driver_param.decoder_param.transform_param.roll, 0);
  yamlRead<float>(driver_config, "pitch", driver_param.decoder_param.transform_param.pitch, 0);
  yamlRead<float>(driver_config, "yaw", driver_param.decoder_param.transform_param.yaw, 0);

  switch (src_type_)
  {
    case SourceType::MSG_FROM_LIDAR:
      driver_param.input_type = InputType::ONLINE_LIDAR;
      break;
    case SourceType::MSG_FROM_PCAP:
      driver_param.input_type = InputType::PCAP_FILE;
      break;
    default:
      driver_param.input_type = InputType::RAW_PACKET;
      break;
  }

  driver_param.print();

  driver_ptr_.reset(new lidar::LidarDriver<LidarPointCloudMsg>());
  driver_ptr_->regPointCloudCallback(std::bind(&SourceDriver::getPointCloud, this),
      std::bind(&SourceDriver::putPointCloud, this, std::placeholders::_1));
  driver_ptr_->regExceptionCallback(
      std::bind(&SourceDriver::putException, this, std::placeholders::_1));
  point_cloud_process_thread_ = std::thread(std::bind(&SourceDriver::processPointCloud, this));

#ifdef ENABLE_IMU_DATA_PARSE
  driver_ptr_->regImuDataCallback(std::bind(&SourceDriver::getImuData, this),std::bind(&SourceDriver::putImuData, this, std::placeholders::_1));
  imu_data_process_thread_ = std::thread(std::bind(&SourceDriver::processImuData, this));
#endif

  if (!driver_ptr_->init(driver_param))
  {
    RS_ERROR << "Driver Initialize Error...." << RS_REND;
    exit(-1);
  }
}

inline void SourceDriver::start()
{
  driver_ptr_->start();
}

inline SourceDriver::~SourceDriver()
{
  stop();
}

inline void SourceDriver::stop()
{
  driver_ptr_->stop();

  to_exit_process_ = true;
  point_cloud_process_thread_.join();
}

inline std::shared_ptr<LidarPointCloudMsg> SourceDriver::getPointCloud(void)
{
  std::shared_ptr<LidarPointCloudMsg> point_cloud = free_point_cloud_queue_.pop();
  if (point_cloud.get() != NULL)
  {
    return point_cloud;
  }

  return std::make_shared<LidarPointCloudMsg>();
}

inline void SourceDriver::regPacketCallback(DestinationPacket::Ptr dst)
{
  Source::regPacketCallback(dst);
  if (pkt_cb_vec_.size() == 1)
  {
    driver_ptr_->regPacketCallback(
        std::bind(&SourceDriver::putPacket, this, std::placeholders::_1));
  }
}

inline void SourceDriver::putPacket(const Packet& msg)
{
  sendPacket(msg);
}

void SourceDriver::putPointCloud(std::shared_ptr<LidarPointCloudMsg> msg)
{
  point_cloud_queue_.push(msg);
}
#ifdef ENABLE_IMU_DATA_PARSE
inline std::shared_ptr<ImuData> SourceDriver::getImuData(void)
{
  std::shared_ptr<ImuData> imuDataPtr = free_imu_data_queue_.pop();
  if (imuDataPtr.get() != NULL)
  {
    return imuDataPtr;
  }
  return std::make_shared<ImuData>();
}
void SourceDriver::putImuData(const std::shared_ptr<ImuData>& msg)
{
  imu_data_queue_.push(msg);
}

void SourceDriver::processImuData()
{
  while (!to_exit_process_)
  {
    std::shared_ptr<ImuData> msg = imu_data_queue_.popWait(100);
    if (msg.get() == NULL)
    {
      continue;
    }
    sendImuData(msg);

    free_imu_data_queue_.push(msg);
  }
}
#endif
void SourceDriver::processPointCloud()
{
  while (!to_exit_process_)
  {
    std::shared_ptr<LidarPointCloudMsg> msg = point_cloud_queue_.popWait(1000);
    if (msg.get() == NULL)
    {
      continue;
    }
    sendPointCloud(msg);

    free_point_cloud_queue_.push(msg);
  }
}

inline void SourceDriver::putException(const lidar::Error& msg)
{
  switch (msg.error_code_type)
  {
    case lidar::ErrCodeType::INFO_CODE:
      RS_INFO << msg.toString() << RS_REND;
      break;
    case lidar::ErrCodeType::WARNING_CODE:
      RS_WARNING << msg.toString() << RS_REND;
      break;
    case lidar::ErrCodeType::ERROR_CODE:
      RS_ERROR << msg.toString() << RS_REND;
      break;
  }
}

}  // namespace lidar
}  // namespace robosense